机械轮式全向车的位置整流控制

P. Viboonchaicheep, Akira Shimada, Y. Kosaka
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引用次数: 71

摘要

近年来,开发了一种采用Mecanum轮毂的全向车辆系统,并应用于轮椅。充分利用其独特的特点,将其作为一种智能轮椅机器人或危险车辆机器人得到更广泛的应用。提出了一种多采样周期位置和姿态控制中的位置校正方法。该控制系统基于唯一运动学,在完整约束下。所提出的治风方法由对症治风和预防治风两部分组成,其思想借鉴于医学。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Position rectification control for Mecanum wheeled omni-directional vehicles
In recent years, an omni-directional vehicle system using Mecanum wheels has been developed and used in wheel-chairs. It should be more widely utilized as a kind of robot for intelligent wheelchairs or vehicle robots for hazards by making the best use of its unique features. This paper presents a position rectification method during position and orientation control with multi-sampling periods. The control system is based on unique kinematics, which are under holonomic constraints. The idea for the proposed rectification method consisting of symptomatic rectification and preventive rectification has been borrowed from medical science.
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